/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#include <gz/physics/FeatureList.hh>
#include <gz/physics/FeaturePolicy.hh>
#include <gz/physics/Register.hh>

#include "EntityManagementFeatures.hh"

//! [code]
namespace gz {
namespace physics {
namespace simpleplugin {

  struct SimplePluginFeatures : FeatureList<
    EntityManagementFeatureList
  > { };

  class Plugin :
    public virtual EntityManagementFeatures,
    public virtual Implements3d<SimplePluginFeatures>
  {
    using Identity = gz::physics::Identity;
    public: Identity InitiateEngine(std::size_t /*_engineID*/) override
    {
      return this->GenerateIdentity(0);
    }
  };

  GZ_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, SimplePluginFeatures)

}
}
}
//! [code]
